A Collaborative Control Framework: Achieving Emergency Vehicle Priority While Minimizing Negative Impact on Ordinary Vehicles at Signalized Intersection
Table 1
Input parameters.
Parameters
Meanings
Lane
The arms where , denote the west, south, east, and north
represents moving directions, that is, left-turn, straight ahead
The platoon in arm with direction (phase)
Intersection vehicle passage distance
The lane length of phase
EV and OVs initial speed
The distance from the trailing car in the lane and DEL
The maximum speed of OVs and EV
The maximum acceleration of OVs and EV
The maximum deceleration of OVs and EV
The set of all OVs
The set of incompatible and non-incompatible OVs ()
The set of OVs for straight and left-turning
Phase
Total number of OVs in phase
The initial position of OVs in phase
The speed limits for EV turning
The minimum clearance times
The major and minor axes of the ellipse
A large constant (for example: 9999)
Trajectory control
Regression coefficient of velocity and acceleration during deceleration
Regression coefficient of velocity and acceleration during acceleration
